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Ported Minkowski Portal Refinement mpr.c from libccd to OpenCL, for bettwe edge-edge performance (and additional contact point for degenerate/high detailed convex shapes)

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Removed b3RigidBodyCL, replace by b3RigidBodyData and b3RigidBodyData_t shared between C++ host and OpenCL,
Same for b3InertiaCL -> b3InertiaData
This commit is contained in:
erwincoumans
2014-01-04 20:54:27 -08:00
parent 999c5ff766
commit 271f458837
52 changed files with 3368 additions and 727 deletions
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4
src/Bullet3OpenCL/NarrowphaseCollision/b3GjkPairDetector.h
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@@ -12,7 +12,7 @@
class b3Transform;
struct b3GjkEpaSolver2;
class b3VoronoiSimplexSolver;
struct b3ConvexPolyhedronCL;
struct b3ConvexPolyhedronData;
B3_ATTRIBUTE_ALIGNED16(struct) b3GjkPairDetector
{
@@ -73,7 +73,7 @@ public:
bool getClosestPoints(b3GjkPairDetector* gjkDetector, const b3Transform& transA, const b3Transform& transB,
const b3ConvexPolyhedronCL& hullA, const b3ConvexPolyhedronCL& hullB,
const b3ConvexPolyhedronData& hullA, const b3ConvexPolyhedronData& hullB,
const b3AlignedObjectArray<b3Vector3>& verticesA,
const b3AlignedObjectArray<b3Vector3>& verticesB,
b3Scalar maximumDistanceSquared,